The proposed prediction model for estimating the maximum rebound ratio was applied to a field explosion test, Mandai test in Singapore. The estimated possible maximum peak particle velocities(PPVs) were compared with ...The proposed prediction model for estimating the maximum rebound ratio was applied to a field explosion test, Mandai test in Singapore. The estimated possible maximum peak particle velocities(PPVs) were compared with the field records. Three of the four available field-recorded PPVs lie exactly below the estimated possible maximum values as expected, while the fourth available field-recorded PPV lies close to and a bit higher than the estimated maximum possible PPV. The comparison results show that the predicted PPVs from the proposed prediction model for the maximum rebound ratio match the field-recorded PPVs better than those from two empirical formulae. The very good agreement between the estimated and field-recorded values validates the proposed prediction model for estimating PPV in a rock mass with a set of joints due to application of a two dimensional compressional wave at the boundary of a tunnel or a borehole.展开更多
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction bet...The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.展开更多
基金Project(50278057) supported by the National Natural Science Foundation of Chinaproject(2002CB412703) supported by the Major State Basic Research Development Program of China
文摘The proposed prediction model for estimating the maximum rebound ratio was applied to a field explosion test, Mandai test in Singapore. The estimated possible maximum peak particle velocities(PPVs) were compared with the field records. Three of the four available field-recorded PPVs lie exactly below the estimated possible maximum values as expected, while the fourth available field-recorded PPV lies close to and a bit higher than the estimated maximum possible PPV. The comparison results show that the predicted PPVs from the proposed prediction model for the maximum rebound ratio match the field-recorded PPVs better than those from two empirical formulae. The very good agreement between the estimated and field-recorded values validates the proposed prediction model for estimating PPV in a rock mass with a set of joints due to application of a two dimensional compressional wave at the boundary of a tunnel or a borehole.
文摘The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.
